CN114986115B - Six-axis heavy load assembly manipulator with human hand force sensing capability and control method - Google Patents
Six-axis heavy load assembly manipulator with human hand force sensing capability and control method Download PDFInfo
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- CN114986115B CN114986115B CN202210677453.2A CN202210677453A CN114986115B CN 114986115 B CN114986115 B CN 114986115B CN 202210677453 A CN202210677453 A CN 202210677453A CN 114986115 B CN114986115 B CN 114986115B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention relates to a six-axis heavy load assembly manipulator with human hand force sensing capability and a control method thereof, wherein the six-axis heavy load assembly manipulator comprises a Y-axis system arranged on a workshop working surface, an X-axis system suspended on the Y-axis system, a Z-axis system, a U-axis system, a V-axis system and a W-axis system which are sequentially arranged on the X-axis system, the Z-axis system, the U-axis system, the V-axis system and the W-axis system realize the movement of a workpiece in the X direction along with the X-axis movement, and the Y-axis system drives the X-axis system, the Z-axis system, the U-axis system, the V-axis system and the W-axis system to move so as to realize the movement and adjustment of the workpiece in the Y direction; the Y-axis system, the X-axis system, the Z-axis system, the U-axis system, the V-axis system and the W-axis system are all electrically connected with a control system, the perceptibility of the assembly resistance in the process of intelligent workpiece assembly in the X-direction and Y-direction movement is equivalent to that of the human hand force during human tooling, a foundation is laid for the control of the assembly quality, and the self-learning capacity of the control system is adopted to improve the precision and the accuracy of the assembled workpiece.
Description
Technical Field
The invention belongs to the field of intelligent assembly mechanical equipment in heavy engineering machinery production, relates to a six-axis heavy load assembly manipulator with a human hand force sensing capability and a control method, and particularly relates to an intelligent multi-axis manipulator and a control method in assembly of a lower frame in heavy engineering machinery assembly.
Background
With the promotion of the demonstration factories of the intelligent manufacturing test points of the national industry and informatization department and the development needs of the intelligent manufacturing of the country, the intelligent production of engineering machinery equipment, the appearance of lighthouse factories, black lamp production lines and the like are inevitable; at present, the production capacity of large heavy-duty engineering machinery equipment such as piling machinery, non-excavation machinery, energy drilling and collecting machinery, mine tunnel equipment and the like is not very large, but the variety and specification are various, and the assembly line of heavy products (with the self weight exceeding 100 tons to 180 tons) with the characteristics of mass production of multiple varieties and few quantities is characterized in that for the improvement of the production technology level, the key factors are the improvement of the automation level and the intelligent management degree of the carrying equipment of the main line logistics.
At present, large heavy-duty engineering machinery equipment such as piling machinery, non-excavation machinery, energy drilling and collecting machinery, mine tunnel equipment and the like are lower frames based on H-shaped chassis, and a combined upper frame and a special working machine form the whole machine. The lower frame consists of an H-shaped chassis (the periphery of supporting legs of the H-shaped frame is provided with a processing wear-resistant surface), an extending hydraulic cylinder, a workpiece (the surface of the workpiece matched with the supporting legs of the H-shaped frame is a rough surface of a welding part, and the assembly interval is about 1-2 mm), a track and the like.
The traditional assembly process is as follows: firstly, installing an extending oil cylinder and a matched hydraulic pipeline in four square supporting leg cavities of an H frame to finish the assembly of parts of the H frame; then the assembly of the parts of the workpiece beam body, the speed reducer, the driving wheel assembly, the tension wheel, the guide device, the bearing wheel and the rail clamping device is completed; then finishing the assembly of the workpiece and the crawler belt; and finally, assembling the combined frame. The typical assembly of closing the frame is to fix the H frame on the support of the workshop ground, hang the work piece on one side to one side of the H frame by a double-hook crane together, manually adjust the posture of the work piece, push the work piece by hands, repeatedly adjust the posture of the work piece and try to push or forcefully strike and push the assembly to two supporting legs of the H frame until the assembly of the work piece on one side and two supporting legs on one side of the H frame is completed, and then the connection of the extending oil cylinder and the work piece is completed. And repeating the operation flow to finish the assembly of the workpiece on the other side and the H frame. The combined frame assembly process is completed by 2-3 persons and the common effort of the general hoisting device and the lifting appliance, and the whole assembly process is completed by manpower. The method has the advantages that: 1. the quality problem of the workpiece sleeve matching holes can be found in the assembly process by utilizing manual pushing assembly, manual trimming adjustment is performed in time, no special assembly tool is needed, and the investment and use cost are low; 2. the assembly adaptability is strong, and the production of various products can be satisfied; 3. the use field is small. But has the disadvantages that: 1. the labor is much needed; 2. the assembly operation is operated under the crane and even under the lifted workpiece, so that the safety is low and the potential safety hazard is high; 3. the assembly condition can not be directly observed and clarified, and an impact type pushing or strong pushing type trial assembly mode is often adopted, so that the supporting surface of the supporting leg on the H frame is easily damaged, and the later use is influenced; 4. the requirement on the assembly operation experience of an operator and the requirement on the safety responsibility are high; 5. the whole assembly is not harmonious: after the workpiece on one side is assembled, the inclination angle and torsion angle of the H-shaped support leg on the other side are changed abnormally, so that the workpiece on the other side is difficult to assemble and is not easy to assemble, and most of the workpieces are assembled only by impact, multiple trial pushing or forced pushing; 6. the assembly quality is low; production management and control are inconvenient; 7. the efficiency is unstable, the production is difficult to organize and arrange, and the requirements of the assembly production line of a modern factory can not be met; 8. the assembly process and the result are not digitally recorded, and the filing information is deficient.
Disclosure of Invention
In view of the above, the invention provides a six-axis heavy load assembly manipulator with human hand force sensing capability and a control method thereof, which aim to solve the problems that the assembly quality is low, intelligent assembly cannot be realized and the assembly precision is low in the assembly and the assembly of the existing lower frame.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the six-axis heavy load assembly manipulator with the human hand force sensing capability comprises a Y-axis system arranged on a workshop working surface, an X-axis system suspended on the Y-axis system, and a Z-axis system, a U-axis system, a V-axis system and a W-axis system which are sequentially arranged on the X-axis system, wherein the Z-axis system, the U-axis system, the V-axis system and the W-axis system move along with the X-axis to realize the movement of a workpiece in the X direction, and the Y-axis system drives the X-axis system, the Z-axis system, the U-axis system, the V-axis system and the W-axis system to move to realize the movement and adjustment of the workpiece in the Y direction;
the X-axis system and the Y-axis system are supported by adopting an air floatation mode, a plurality of force sensors are arranged in the X direction and the Y direction, the X direction and the Y direction are low-friction directions, the Y-axis system, the X-axis system, the Z-axis system, the U-axis system, the V-axis system and the W-axis system are all electrically connected with a control system, and the control system consists of a driving control system, a communication system, a detection system, a virtual workpiece posture control system, an intelligent image generation system and a management system.
The beneficial effect of this basic scheme lies in: the X-axis system and the Y-axis system are supported by adopting an air floatation mode, and the X-direction Y-direction movement process is guided by low friction, so that the perceptibility of the assembly resistance in the intelligent workpiece assembly process is equivalent to the perceptibility of the human hand force during the human tool assembly, and the assembly quality is controlled and improved; the force sensor can detect and feed back the assembly resistance of different assembly positions in real time, and the workpiece gesture can be intelligently adjusted in the X direction and the Y direction, so that intelligent assembly is realized; and the assembly precision and accuracy are improved through the control system.
Further, the Y-axis system comprises Y-axis bases arranged at two ends of the workshop working surface, a Y-axis air floating device fixed on the Y-axis bases, a Y-axis driving device fixed on the Y-axis air floating device, a Y-axis sliding table X-axis base and a Y-axis force sensor arranged on the Y-axis driving device. The beneficial effects are that: during assembly operation, the Y-axis air floating device is ventilated and suspended on the Y-axis base, the Y-direction movement is realized under the action of the Y-axis driving device, and the force in different directions is tested and fed back through four force sensors.
Further, the X-axis system comprises an X-axis air floatation device, an X-axis driving device, an X-axis sliding table Z-axis base and an X-axis force sensor, wherein the X-axis air floatation device, the X-axis driving device and the X-axis force sensor are arranged on an X-axis base of a Y-axis sliding table in the Y-axis system. The beneficial effects are that: the X-axis air floatation device is ventilated and suspended on the X-axis base of the Y-axis sliding table, the X-direction transportation is realized under the action of the X-axis driving device, and the force magnitudes and directions in different directions are tested and fed back through four force sensors.
Further, the Z-axis system is arranged on the Z-axis base of the X-axis sliding table and comprises a Z-axis guiding driving device fixed on the Z-axis base of the X-axis sliding table, a Z-axis sliding table U-axis base fixed on the Z-axis guiding driving device and a guiding mechanism matched with the Z-axis sliding table U-axis base. The beneficial effects are that: the Z-directional travel control and detection feedback is taken from the Z-axis guided drive.
Further, the U-axis system is arranged on the U-axis base of the Z-axis sliding table and comprises a U-axis support and driving device fixed on the U-axis base of the Z-axis sliding table and a U-axis returning table V & W-axis base fixed on the U-axis support and driving device, and the U-axis support adopts a plane rotary support structure; the driving device adopts a servo driving device. The beneficial effects are that: the feedback of the detection of the turning angle is taken from the drive means.
Further, the V-axis system is arranged on the V & W-axis base of the U-axis returning platform and comprises a V-axis swinging fork frame, a guiding and supporting system of the V-axis swinging fork frame, a V-axis limiter and a V-axis driving device, wherein the V-axis swinging fork frame and the guiding and supporting system of the V-axis swinging fork frame are arranged on the V & W-axis base of the U-axis returning platform. The beneficial effects are that: the V-axis swinging fork frame swings in a certain range under the action of the V-axis driving device, the maximum swinging angle is limited by the V-axis limiter, and meanwhile, the V-axis limiter is also used for protecting the V-axis; the V-axis driving device adopts servo driving, and the control and signal feedback of the swing angle are taken from the V-axis driving device.
Further, the W-axis system is arranged on the U-axis returning platform V & W-axis base and comprises a W-axis swinging fork frame, a guiding and supporting system of the W-axis swinging fork frame, a W-axis limiter and a W-axis driving device which are arranged on the U-axis returning platform V & W-axis base. The beneficial effects are that: the W-axis swinging fork frame swings in a certain range under the action of the W-axis driving device, the maximum swinging angle is limited by the W-axis limiter, and meanwhile, the W-axis limiter is also used as a W-axis safety protection W-axis driving device to adopt servo driving, and the control and signal feedback of the swinging angle are taken from the W-axis driving device.
Further, the V-axis system and the W-axis system share a U-axis returning table V & W-axis base, and workpieces are placed on the V-axis system and the W-axis system.
Further, the guiding in the Y direction adopts the low friction guiding formed by the two side surfaces of the Y-axis sliding table and the side wall of the Y-axis base, and the guiding in the X direction adopts the low friction guiding formed by the two side surfaces of the X-axis sliding table and the side wall of the X-axis base.
A control method of a six-axis heavy load assembly manipulator with a human hand force sensing capability comprises the following steps:
s1, by reading the data of the force detection element, comparing the attitude parameters in the assembly process with the self-learned clamping process data, giving out the corresponding shaft position relation through calculation and judgment of a control system, displaying on a human-computer interface, and manually or automatically completing the action of a corresponding driving shaft, thereby completing the position feeding and micro-adjustment of the clamping process and ensuring that the assembly force operates in an effective range;
s2, reading a workpiece bar code at a station to be assembled, binding the workpiece bar code as a unique code with workpiece information, butting the workpiece bar code with an upper management and control system, checking compliance and parameter compliance of the workpiece by the upper management and control system, judging whether assembly operation is allowed or not, sending an assembly allowing signal by the upper management and control system after verification is completed, conveying the workpiece to an assembly station by equipment, reading a positioning value from a controller in the assembly station in a communication mode, performing operation of working and stepping, and acquiring, calculating and storing assembly force data for a plurality of times;
and S3, after the force data are processed on the controller, uploading the force data to an upper system, comparing and judging the data, giving an execution strategy of the assembly numerical value, and judging whether the assembly workpiece can be transferred to other working procedures for processing.
The invention has the beneficial effects that:
1. according to the six-axis heavy-load assembly manipulator with the human hand force sensing capability, the X-axis system and the Y-axis system are supported by adopting the air floatation mode, the friction force in the X-direction and Y-direction movement process is controlled within the range of human hand force, the sensing degree of the assembly resistance in the intelligent workpiece assembly process is equivalent to the sensing degree of the human hand force during the human tool assembly, and a foundation is laid for controlling the assembly quality; and the self-learning capability of the control system is adopted, so that the attitude parameters in the assembly process and the self-learned clamping process parameters are adjusted, and the precision and accuracy of the assembled workpiece are improved.
2. According to the six-axis heavy-load assembly manipulator with the human hand force sensing capability, disclosed by the invention, the force sensors capable of detecting and feeding back assembly resistances of different assembly positions in real time are respectively configured by adopting the X-direction assembly and the Y-direction assembly, the workpiece posture is intelligently adjusted, the assembly resistances are monitored and controlled within the human hand force range, and intelligent assembly can be realized; the problem that the gesture cannot be adjusted in manual assembly due to the fact that the gesture of the intermittent large assembly hole of the crawler belt and the workpiece body is thousands of is solved through an intelligent adjusting control mode.
3. According to the six-axis heavy-load assembly manipulator with the human hand force sensing capability, disclosed by the invention, the gesture parameters and images of a workpiece are virtually in a human-computer interface by adopting a digital technology, and are visually compared during manual remote control assembly; and the data acquisition in the assembly process is carried out, the related data of the assembly output quality are obtained, and the fine management and control capacity of the assembly line is greatly improved.
4. The six-axis heavy-load assembly manipulator with the human hand force sensing capability disclosed by the invention adopts a six-degree-of-freedom heavy-load assembly manipulator structure, and the workpiece gesture is adjusted by six-degree-of-freedom combination, so that one set of equipment can meet the assembly requirements of multiple varieties; meanwhile, the problem that the assembled workpiece (workpiece) is twisted in the X direction and the Y direction is solved by adopting a mode that the V shaft and the W shaft share the base, and the problem that the assembling holes are different in height is solved by the combined action of the V shaft and the W shaft.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objects and other advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the specification.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in the following preferred detail with reference to the accompanying drawings, in which:
FIG. 1 is a control flow diagram of a six-axis heavy load assembly manipulator with human hand force sensing capability of the present invention;
FIG. 2 is a control block diagram of a six-axis heavy load assembly manipulator with human hand force sensing capability of the present invention;
FIG. 3 is a schematic structural view of a six-axis heavy load assembly manipulator with human hand force sensing capability;
FIG. 4 is a top view of a six-axis heavy load assembly robot with human hand force sensing capability of the present invention;
FIG. 5 is a schematic structural view of a six-axis heavy load assembly manipulator combined frame assembly machine with human hand force sensing capability;
FIG. 6 is a top view of a six-axis heavy load assembly robot co-frame assembly machine with human hand force sensing capability of the present invention;
fig. 7 is a schematic structural view of a lower frame formed by combining an H-shaped chassis and a workpiece.
Reference numerals: the Y-axis base 1, the Y-axis air floating device 2, the Y-axis driving device I3, the Y-axis sliding table X-axis base 4, the X-axis air floating device 5, the X-axis sliding table Z-axis base 6, the Z-axis guiding and driving device 7, the Y-axis driving device II 8, the Z-axis sliding table U-axis base 9, the U-axis supporting and driving device 10, the U-axis returning table V & W-axis base 11, the workpiece anti-slip supporting plate 12, the X-axis force sensor I13, the Y-axis force sensor I14, the X-axis driving device I15, the W-axis limit 16, the W-axis driving device 17, the W-axis oscillating fork 18, the Y-axis force sensor II 19, the X-axis force sensor II 20, the V-axis oscillating fork 21, the X-axis driving device II 22, the V-axis limit 23, the V-axis driving device 24, the X-axis force sensor III 25, the Y-axis force sensor III 26, the Y-axis force sensor IV 27, the X-axis force sensor IV 28, the control system 29 and the workpiece 30.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the illustrations provided in the following embodiments merely illustrate the basic idea of the present invention by way of illustration, and the following embodiments and features in the embodiments may be combined with each other without conflict.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to limit the invention; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc., that indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but not for indicating or suggesting that the referred device or element must have a specific azimuth, be constructed and operated in a specific azimuth, so that the terms describing the positional relationship in the drawings are merely for exemplary illustration and should not be construed as limiting the present invention, and that the specific meaning of the above terms may be understood by those of ordinary skill in the art according to the specific circumstances.
The six-axis heavy load assembly manipulator with the human hand force sensing capability shown in the figures 3-6 comprises a Y-axis system arranged on a workshop working surface, an X-axis system suspended on the Y-axis system, and a Z-axis system, a U-axis system, a V-axis system and a W-axis system which are sequentially arranged on the X-axis system, wherein the Z-axis system, the U-axis system, the V-axis system and the W-axis system move along with the X-axis to realize the movement of a workpiece in the X-direction, and the Y-axis system drives the X-axis system, the Z-axis system, the U-axis system, the V-axis system and the W-axis system to move to realize the movement and adjustment of the workpiece in the Y-direction; the Y-axis system, the X-axis system, the Z-axis system, the U-axis system, the V-axis system and the W-axis system are all electrically connected with a control system 29, and the control system consists of a driving control system, a communication system, a detection system, a virtual workpiece attitude control system, an intelligent image generation system and a management system, and attitude parameters in the assembly process are displayed through the control system.
The Y-axis system comprises a Y-axis base 1 arranged at two ends of a workshop working surface, a set of Y-axis air floatation device 2 fixed on the Y-axis base 1, a Y-axis driving device I3 and a Y-axis driving device II 8 fixed on the Y-axis air floatation device 2, a Y-axis sliding table X-axis base 4 and four sets of Y-axis force sensors arranged on the Y-axis driving device 3, wherein the Y-axis force sensors I14, II 19, III 26 and IV 27 are respectively arranged at the bottommost layer, and are the basis of a six-axis heavy load assembly manipulator for bearing all the weight of other five-axis systems. During operation, the Y-axis air floatation device 2 is ventilated and suspended on the Y-axis base 1, Y-direction movement is realized under the action of the Y-axis driving device I3 and the Y-axis driving device II 8, the magnitudes and directions of forces in different directions (such as +Y1, +Y2, -Y1 and, -Y2) are tested and fed back through four force sensors, the Y-axis system drives other five axes to realize Y-direction movement and adjustment, and a Y-direction position detection signal is taken from a servo system.
The Y-axis system realizes forward and backward movement: firstly, the Y-axis air floatation device 2 is started to be in a working state, so that a sliding table of a Y-axis system is suspended. The advancing and retreating movements of the Y shaft are that two sets of servo drive control speed reducers fixed on the X shaft base 4 of the Y shaft sliding table pass through two inert chain wheels to bypass chain wheels on output shafts of the Y shaft driving device I3 and the Y shaft driving device II 8, and two ends of the chain are respectively provided with a Y shaft force sensor I14, a Y shaft force sensor II 19, a Y shaft force sensor III 26 and a Y shaft force sensor IV 27. And starting the servo motor to operate, and pulling the Y-axis sliding table and equipment on the Y-axis sliding table to advance through rotation of the output shaft end chain wheel so as to realize +Y-direction operation. The sum of the forces output by the two force sensors in the forward direction can be used to obtain the idle resistance and the assembly resistance during the forward movement. The servo system sends Y-position signals to the control system according to sampling requirements, the two force sensors simultaneously output force magnitude and difference signals, and the system can judge whether the gesture of the workpiece is in compound process requirements during assembly according to the position signals, the force magnitude and the difference signals, so that related information is sent to the control system, the control system can quickly respond to send motion control signals and gesture adjustment information, and a virtual workpiece gesture graph is output. According to the signals of the control system, the Y-axis driving device I3 and the Y-axis driving device II 8 automatically realize the motions of decelerating and stopping, continuing to advance, running backwards and the like, and meet the motion requirement and the position requirement of the assembly process in the Y direction. The servo driving system runs reversely, and the backward movement in the-Y direction is realized. After the sliding table of the Y axis returns to the original position, the operation of the Y axis air floatation device 2 can be stopped.
The X-axis system comprises an X-axis driving device I15 and an X-axis driving device II 22 which are arranged on an X-axis base 4 of a Y-axis sliding table in the Y-axis system, an X-axis Z-axis base 6 of the X-axis sliding table, and four sets of X-axis force sensors which are respectively arranged on the X-axis driving device I15 and the X-axis driving device II 22, wherein the X-axis system is arranged on the Y-axis system, the X-axis force sensor I13, the X-axis force sensor II 20, the X-axis force sensor III 25 and the X-axis force sensor IV 28, the X-axis system is suspended on the X-axis base 4 of the Y-axis sliding table through ventilation of an X-axis air floatation device 5 during working, the X-direction movement is realized under the action of the two sets of driving devices, the force in different directions (such as +X1, +X2, -X1, -X2) are tested and fed back through the four sets of force sensors, the Z-axis, U-axis, V-axis and W-axis systems are all arranged on the X-axis system, the X-axis movement is realized along with the X-axis movement, and the position detection signals in the X direction are taken from a servo system.
The X-axis system realizes forward and backward movement: firstly, the X-axis air floatation device 5 is started to be in a working state, so that a sliding table of an X-axis system is suspended. The advancing and retreating movement of the X-axis is that a chain with two ends fixed on an X-axis base of the Y-axis sliding table through two inert chain wheels by two sets of servo drive control speed reducers fixed on the Z-axis base 6 of the X-axis sliding table bypasses the chain wheels on the output shafts of an X-axis driving device I15 and an X-axis driving device II 22, and two ends of the chain are respectively provided with an X-axis force sensor I13, an X-axis force sensor II 20, an X-axis force sensor III 25 and an X-axis force sensor IV 28. And starting the servo motor to operate, and pulling the X-axis sliding table and equipment on the X-axis sliding table to advance through rotation of the output shaft end chain wheel so as to realize +X-direction operation. The sum of the forces output by the two force sensors in the forward direction can be used to obtain the idle resistance and the assembly resistance during the forward movement. The servo system sends an X-position signal to the control system according to sampling requirements, the two force sensors simultaneously output force and difference signals, and the system can judge whether the gesture of the workpiece is in compound process requirements during assembly according to the position signals, the force and the difference signals, so that related information is sent to the control system, the control system can quickly respond to send motion control signals and gesture adjustment information, and a virtual workpiece gesture graph is output. According to the signals of the control system, the X-axis driving device I15 and the X-axis driving device II 22 automatically realize the motions of decelerating and stopping, continuing to advance, running backwards and the like, and meet the motion requirement and the position requirement of the assembly process in the X direction. The servo driving system runs reversely, and the backward movement in the-X direction is realized. After the sliding table of the X-axis returns to the original position, the operation of the X-axis air floatation device 5 can be stopped.
The guiding in the Y direction adopts the two side surfaces of the sliding table to form low friction guiding with the side wall of the Y-axis base 1, the guiding in the X direction adopts the two side surfaces of the sliding table to form low friction guiding with the side wall of the X-axis base 4 of the Y-axis sliding table, the X-axis system and the Y-axis system are supported by adopting an air floatation mode, and the friction coefficient in the moving process is as low as 1 to 5 per mill.
The Z-axis system is arranged on the Z-axis base 6 of the X-axis sliding table, and comprises a Z-axis guiding driving device 7 fixed on the Z-axis base 6 of the X-axis sliding table, a Z-axis sliding table U-axis base 9 fixed on the Z-axis guiding driving device 7, and a four-column guiding mechanism matched with the Z-axis sliding table U-axis base 9, wherein the Z-axis guiding driving device 7 is controlled by a servo system, and Z-axis stroke control and detection feedback are taken from the servo system.
The Z-axis system realizes lifting motion: the Z-axis motion is mainly used for controlling the height between the assembly space of the workpiece to be assembled and the supporting leg of the H-shaped chassis. According to the model of the H-shaped chassis received, the chassis centering device sends out a height instruction, the servo driving device 7 of the Z axis is started, ascends and descends according to the needs, and is finely adjusted in place according to the virtual workpiece posture and parameters after preliminary reaching the place, and X, Y is sent out to the assembly signal. And lifting in real time according to signals received in the assembly process so as to meet the assembly process requirements.
The U-axis system is arranged on a U-axis base 9 of the Z-axis sliding table and comprises a U-axis support and driving device 10 fixed on the U-axis base 9 of the Z-axis sliding table and a U-axis returning table V & W-axis base 11 fixed on the U-axis support and driving device 10, wherein the U-axis support adopts a plane rotary support structure; the driving device adopts a servo driving device, and the detection feedback of the turning angle is taken from a servo system.
The U-axis system realizes rotary motion: the rotary motion of the U-axis is used for adjusting the parallelism between the assembly aerial core wire of the workpiece to be assembled and the central wire of the supporting leg of the H-shaped chassis. And starting the servo driving device 10 of the plane slewing support to operate according to the received signal to be adjusted, and adjusting the servo driving device to a required position. And in the assembly process, rotary adjustment is carried out according to the received adjustment signal so as to meet the assembly process requirement.
The V-axis system is arranged on the V & W-axis base 11 of the U-axis returning platform, and comprises a V-axis swinging fork frame 21, a guiding and supporting system of the V-axis swinging fork frame 21, a V-axis limiter 23 and a V-axis driving device 24 which are arranged on the V & W-axis base 11 of the U-axis returning platform, wherein the V-axis swinging fork frame 21 swings in a certain range under the action of the V-axis driving device 24, the maximum swinging angle is limited by the V-axis limiter 23, and meanwhile, the V-axis limiter 23 also serves as the safety protection of the V-axis; the V-axis drive 24 is servo-driven, and the control and signal feedback of the oscillation angle are taken from the V-axis drive 24.
The W-axis system is arranged on the U-axis returning platform V & W-axis base 11 and comprises a W-axis swinging fork frame, a guiding and supporting system of the W-axis swinging fork frame 18, a W-axis limiter 16 and a W-axis driving device, wherein the W-axis swinging fork frame swings in a certain range under the action of the W-axis driving device, the maximum swing angle is limited by the W-axis limiter, meanwhile, the W-axis limiter is also used as a W-axis safety protection W-axis driving device 17 to adopt servo driving, and the control and signal feedback of the swing angle are taken from the W-axis driving device 17.
The V-axis system and the W-axis system share a U-axis returning table V & W-axis base 11, a workpiece 30 is placed on the V-axis system and the W-axis system, and a workpiece anti-slip supporting plate 12 is arranged between the V-axis system and the W-axis system.
The V & W axis system realizes a swinging motion: because the intermittent disparity between the track teeth and the driving gears, the tension wheels, the bearing wheels and the like on the workpiece 30 after the assembly of the components is completed, after the assembly is completed, the two assembly holes matched with the supporting legs of the H-shaped chassis on the workpiece and the neutral line of the extending part on the inner side of the outwards-lifted initial track are not parallel to the swinging fork frame for supporting the workpiece, and various distortions can be generated. The V & W axes are respectively operated to adjust the workpiece twist. The V-axis and the W-axis respectively start respective servo driving devices according to the received control signals or manual remote operation control signals to perform corresponding swing adjustment movement, so that the center line of the assembly hole is matched with the neutral line of the supporting leg of the H-shaped chassis, and the requirement of the assembly process is met. In the assembly process, the posture of the workpiece 30 is regulated according to the received regulating signals, so that the requirement of the assembly process is met. Meanwhile, each shaft system is also respectively provided with a limit swing angle limit for preventing the unsafe condition that the gravity center is deviated due to power failure and workpiece sliding. Ensuring the safety and reliability of the assembly process.
The control method of the six-axis heavy load assembly manipulator with the human hand force sensing capability shown in the figures 1-2 comprises the following steps:
s1, by reading the data of the force detection element, comparing the attitude parameters in the assembly process with the self-learned clamping process data, giving out the corresponding shaft position relation through calculation and judgment of a control system, displaying on a human-computer interface, and manually or automatically completing the action of a corresponding driving shaft, thereby completing the position feeding and micro-adjustment of the clamping process and ensuring that the assembly force operates in an effective range;
s2, reading a bar code of the workpiece 30 at a station to be assembled, binding the bar code as a unique code with information of the workpiece 30, abutting against an upper management and control system, checking compliance and parameter compliance of the workpiece 30 by the upper system to judge whether assembly operation is allowed, sending an assembly allowing signal by the upper management and control system after checking, conveying the workpiece 30 to an assembly station by equipment, reading a positioning value from a controller in the assembly station in a communication mode, performing operation of working and stepping, and acquiring, calculating and storing assembly force data for a plurality of times;
s3, after the force data are processed on the controller, the force data are uploaded to an upper system, data comparison and judgment are carried out, an execution strategy of assembly values is given, and whether the assembly workpiece 30 can flow to other working procedures is judged.
The operation method of the six-axis heavy load assembly manipulator with the human hand force sensing capability comprises the following two steps:
1. manual remote control operation: and starting an air source to enable the X-axis air floatation device 5 and the Y-axis air floatation device 2 to be in a working preparation state at the origin of the manipulator. According to the H-shaped chassis to be assembled, the related workpiece 30 assembly is matched, the workpiece 30 assembly is manually lifted and placed on the swinging fork frame on the V & W shaft, and the V & W shaft is operated to make the workpiece 30 to be assembled only depend on the rear side of the swinging fork frame. And according to the H-shaped chassis image and the virtual workpiece posture image on the human-computer interface, the X axis and the Y axis are remotely controlled to enable the workpiece 30 to be close to the supporting legs of the H-shaped chassis. The Z axis is remotely controlled to enable the height to meet the assembly requirement, the U axis is remotely controlled to enable the axis of an assembly hole on the workpiece 30 to be matched with the axis of a supporting leg corresponding to the H-shaped chassis, and the V & W axis is further remotely controlled to adjust the posture of the workpiece to achieve an assembly state. The force and difference of the force sensor are observed along the X-axis of the remote control, and the posture of the workpiece 30 and the remote control feeding are continuously adjusted until the assembly is completed. And finally, returning the six-degree-of-freedom heavy-duty assembly manipulator to the original point. And closing the X-axis air floatation device 5 and the Y-axis air floatation device 2, and waiting for the next assembly task.
2. Automatic assembly action: and when the assembly task is received, an air source is automatically started, and the assembly task is in a working equipment state at the origin. Signaling the workpiece 30 component. The manually lifted workpiece 30 is placed on the oscillating fork of the V & W system. And manually sending out a completion instruction for lifting the workpiece 30. And the mechanical arm automatically measures and records the origin data of each shaft. And automatically approaching to the front of the supporting legs of the H-shaped chassis to be assembled according to the received H-shaped chassis data. Automatically adjusting the posture of the workpiece, enabling the X axis and the Y axis to enter assembly operation, and dynamically adjusting the posture of the workpiece 30 according to the received data of each force sensor until the assembly is completed. And after the assembly completion signal is sent, the original point is automatically returned, the air source is closed, the manipulator is in an original point standby state, and the next assembly instruction is waited.
The other side workpiece 30 is assembled synchronously as described above, and the assembly is completed as shown in fig. 7.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the claims of the present invention.
Claims (4)
1. The six-axis heavy-load assembly manipulator with the human hand force sensing capability is characterized by comprising a Y-axis system arranged on a workshop working surface, an X-axis system suspended on the Y-axis system, and a Z-axis system, a U-axis system, a V-axis system and a W-axis system which are sequentially arranged on the X-axis system, wherein the Z-axis system, the U-axis system, the V-axis system and the W-axis system move along with the X-axis to realize the movement of a workpiece in the X direction, and the Y-axis system drives the X-axis system, the Z-axis system, the U-axis system, the V-axis system and the W-axis system to move to realize the movement and adjustment of the workpiece in the Y direction;
the X-axis system and the Y-axis system are supported by adopting an air floatation mode, a plurality of force sensors are arranged in the X direction and the Y direction, the X direction and the Y direction are in low-friction guiding, the Y-axis system, the X-axis system, the Z-axis system, the U-axis system, the V-axis system and the W-axis system are all electrically connected with a control system, and the control system consists of a driving control system, a communication system, a detection system, a virtual workpiece posture control system, an intelligent image generation system and a management system;
the Y-axis system comprises Y-axis bases arranged at two ends of a workshop working surface, an air floatation device fixed on the Y-axis bases, a Y-axis driving device fixed on the air floatation device, a Y-axis sliding table X-axis base and a Y-axis force sensor arranged on the Y-axis driving device;
the X-axis system comprises an X-axis air floatation device, an X-axis driving device, an X-axis sliding table Z-axis base and an X-axis force sensor, wherein the X-axis air floatation device, the X-axis driving device and the X-axis force sensor are arranged on a Y-axis sliding table X-axis base in a Y-axis system;
the Z-axis system is arranged on the Z-axis base of the X-axis sliding table and comprises a Z-axis guiding driving device fixed on the Z-axis base of the X-axis sliding table, a Z-axis sliding table U-axis base fixed on the Z-axis guiding driving device and a guiding mechanism matched with the Z-axis sliding table U-axis base;
the U-axis system is arranged on a U-axis base of the Z-axis sliding table and comprises a U-axis support and driving device fixed on the U-axis base of the Z-axis sliding table and a U-axis returning table V & W-axis base fixed on the U-axis support and driving device, wherein the U-axis support adopts a plane rotary support structure; the driving device adopts a servo driving device;
the V-axis system is arranged on a V & W-axis base of the U-axis returning platform and comprises a V-axis swinging fork frame, a guiding and supporting system of the V-axis swinging fork frame, a V-axis limiter and a V-axis driving device, wherein the V-axis swinging fork frame and the guiding and supporting system of the V-axis swinging fork frame are arranged on the V & W-axis base of the U-axis returning platform;
the W-axis system is arranged on the U-axis returning platform V & W-axis base and comprises a W-axis swinging fork frame, a guiding and supporting system of the W-axis swinging fork frame, a W-axis limiter and a W-axis driving device, wherein the W-axis swinging fork frame and the guiding and supporting system of the W-axis swinging fork frame are arranged on the U-axis returning platform V & W-axis base.
2. The six-axis heavy load assembly manipulator with human hand force sensing capability according to claim 1, wherein the V-axis system and the W-axis system share a U-axis return mounting table V & W-axis base, and workpieces are placed on the V-axis system and the W-axis system.
3. The six-axis heavy load assembly manipulator with the human hand force sensing capability according to claim 1, wherein the Y-direction guiding adopts the low friction guiding formed by the two side surfaces of the Y-axis sliding table and the side wall of the Y-axis base, and the X-direction guiding adopts the low friction guiding formed by the two side surfaces of the X-axis sliding table and the side wall of the X-axis base.
4. A control method based on the six-axis heavy load assembly manipulator with human hand force sensing capability according to any one of claims 1-3, comprising the following steps:
s1, by reading the data of the force detection element, comparing the attitude parameters in the assembly process with the self-learned clamping process data, giving out the corresponding shaft position relation through calculation and judgment of a control system, displaying on a human-computer interface, and manually or automatically completing the action of a corresponding driving shaft, thereby completing the position feeding and micro-adjustment of the clamping process and ensuring that the assembly force operates in an effective range;
s2, reading a workpiece bar code at a station to be assembled, binding the workpiece bar code as a unique code with workpiece information, docking with an upper management and control system, checking compliance and parameter compliance of a workpiece by the upper management and control system to judge whether assembly operation is allowed or not, sending an assembly allowing signal by the upper management and control system after checking, conveying the workpiece to an assembly station by equipment, reading a positioning numerical value from a controller in the assembly station in a communication mode, performing operation of working and stepping, and collecting, calculating and storing assembly force data for a plurality of times;
s3, after the assembly force data are processed on the controller, uploading the assembly force data to an upper management and control system, comparing and judging the data, giving an execution strategy of assembly values, and judging whether the assembly work piece can be transferred to other working procedures for processing.
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